A wire pressing detection method, device and computer equipment

Abstract

The present application relates to a lane crossing detection method, device and computer equipment. The method comprises: obtaining a captured image obtained by capturing a vehicle with a side-mounted camera; based on the captured image, the mapping relationship between the image coordinates of the captured image and the spatial coordinates, and the position of the lane line in the spatial coordinates, detecting whether the vehicle crosses the lane; the spatial coordinates are the spatial coordinates of the three-dimensional space where the vehicle is located. The present application can solve the problem of inaccurate recognition of vehicle crossing the lane in the existing vehicle crossing detection method.

Description

Technical Field

[0001] The present application relates to the technical field of wire pressing detection, and in particular to a wire pressing detection method, device and computer equipment. Background Art

[0002] With the increase in the number of vehicles, urban traffic congestion is becoming increasingly severe. Reducing various types of traffic violations can effectively alleviate traffic congestion. Vehicle crossing the line, as a typical traffic violation, has received more and more attention. Therefore, the detection of vehicle crossing the line is very important.

[0003] The existing methods for detecting vehicles crossing the lane mainly use a full-mount camera and image recognition technology to determine the projection points of the key points of the vehicle on the ground, or the pixel color values ​​of any area in the lane line area, to determine whether the vehicle crosses the lane. Alternatively, a neural network deep learning model is used for model training, and the trained network model is used for lane crossing detection. The method of using a full-mount camera and image recognition may cause inaccurate projection of the key points of the vehicle on the ground or inaccurate recognition of the pixel color values ​​in the lane line area, resulting in inaccurate identification of vehicles crossing the lane. The method of using a neural network model has high requirements for the amount of material and the material scene. If the scene is adjusted or the amount of material is insufficient, there will be problems with inaccurate identification of vehicles crossing the lane due to insufficient precision.

[0004] However, the existing vehicle crossing line detection method has the problem of inaccurate vehicle crossing line recognition, and no effective solution has been proposed yet. Summary of the invention

[0005] Based on this, it is necessary to provide a wire pressing detection method, device and computer equipment to address the above technical problems.

[0006] In a first aspect, the present application provides a wire pressing detection method. The method comprises the following steps:

[0007] Obtain a captured image of the vehicle captured by a side-mounted camera;

[0008] Based on the captured image, the mapping relationship between the image coordinates and the spatial coordinates of the captured image, and the position of the lane line in the spatial coordinates, it is detected whether the vehicle crosses the lane; the spatial coordinates are the spatial coordinates of the three-dimensional space where the vehicle is located.

[0009] In one embodiment, before detecting whether the vehicle crosses the lane based on the acquired captured image, the mapping relationship between the image coordinates of the captured image and the spatial coordinates, and the position of the lane line in the spatial coordinates, the following steps are included:

[0010] Based on the acquired captured image, internal parameters of the side-mounted camera and external parameters of the side-mounted camera, a mapping relationship between the image coordinates of the captured image and the space coordinates is determined.

[0011] In one embodiment, determining the mapping relationship between the image coordinates of the captured image and the space coordinates based on the acquired captured image, the internal parameters of the side-mounted camera, and the external parameters of the side-mounted camera comprises the following steps:

[0012] Determine, based on the internal parameters of the side-mounted camera and the external parameters of the side-mounted camera, the height of the side-mounted camera, the horizontal tilt angle and the vertical tilt angle of the side-mounted camera, and the focal length of the side-mounted camera;

[0013] Based on the acquired captured image, the height of the side-mounted camera, the horizontal and vertical tilt angles of the side-mounted camera, and the focal length of the side-mounted camera, the mapping relationship between the image coordinates of the captured image and the spatial coordinates is determined.

[0014] In one embodiment, determining the mapping relationship between the image coordinates of the captured image and the space coordinates based on the captured image, the height of the side-mounted camera, the horizontal tilt angle and the vertical tilt angle of the side-mounted camera, and the focal length of the side-mounted camera comprises the following steps:

[0015] Based on the horizontal tilt angle and the vertical tilt angle of the side-mounted camera and the focal length of the side-mounted camera, determining the horizontal component and the vertical component of the focal length of the side-mounted camera in the spatial coordinates;

[0016] Based on the captured image acquired, the horizontal component and the vertical component of the focal length of the side-mounted camera in the spatial coordinates, the height of the side-mounted camera, and the horizontal and vertical inclination angles of the side-mounted camera, the mapping relationship between the image coordinates of the captured image and the spatial coordinates is determined.

[0017] In one embodiment, the detecting whether the vehicle crosses the lane based on the acquired captured image, the mapping relationship between the image coordinates of the captured image and the spatial coordinates, and the position of the lane line in the spatial coordinates comprises the following steps:

[0018] Based on the captured image, determine key point information in the captured image; the key point information includes the position of the point on the contact surface between the tire of the vehicle and the ground that is closest to the side of the side-mounted camera and the position of the feature point on the roof;

[0019] Based on the key point information in the captured image, the mapping relationship between the image coordinates of the captured image and the spatial coordinates, and the position of the lane line in the spatial coordinates, it is detected whether the vehicle crosses the lane line.

[0020] In one embodiment, the detecting whether the vehicle crosses the lane line based on the key point information in the captured image, the mapping relationship between the image coordinates of the captured image and the spatial coordinates, and the position of the lane line in the spatial coordinates comprises the following steps:

[0021] Based on the key point information in the captured image and the mapping relationship between the image coordinates of the captured image and the spatial coordinates, determining the position of the key point in the captured image in the spatial coordinates;

[0022] Based on the position of the key point in the captured image in the spatial coordinates and the position of the lane line in the spatial coordinates, it is detected whether the vehicle crosses the lane.

[0023] In one embodiment, the detecting whether the vehicle crosses the lane based on the position of the key point in the captured image in the spatial coordinates and the position of the lane line in the spatial coordinates comprises the following steps:

[0024] Based on the position of the key point in the captured image in the spatial coordinates, determining the position of the point on the side of the contact surface between the tire of the vehicle and the ground that is farthest from the side-mounted camera in the spatial coordinates;

[0025] Based on the position of the point on the contact surface between the tire of the vehicle and the ground which is farthest from the side-mounted camera in the spatial coordinates and the position of the lane line in the spatial coordinates, it is detected whether the vehicle crosses the lane.

[0026] In one embodiment, the step of determining the position of a point on the contact surface between the tire of the vehicle and the ground, which is farthest from the side-mounted camera, in the spatial coordinates based on the position of the key point in the captured image in the spatial coordinates, comprises the following steps:

[0027] Determine the width of the roof of the vehicle and the horizontal distance between the wheel and the roof based on the position of the key point in the captured image in the spatial coordinates;

[0028] Determining the width of the vehicle based on the width of the roof of the vehicle and the horizontal distance between the wheel and the roof;

[0029] Based on the width of the vehicle and the position of the point on the contact surface between the vehicle's tire and the ground that is closest to the side-mounted camera, the position in spatial coordinates of the point on the contact surface between the vehicle's tire and the ground that is farthest from the side-mounted camera is determined.

[0030] In one embodiment, after detecting whether the vehicle crosses the line, the following steps are included:

[0031] Based on the detection result of the vehicle crossing the line, a warning message is generated.

[0032] In a second aspect, the present application also provides a wire pressing detection device. The device comprises:

[0033] A capture module is used to obtain a captured image of a vehicle captured by a side-mounted camera;

[0034] And a detection module, which is used to detect whether the vehicle crosses the lane line based on the acquired captured image, the mapping relationship between the image coordinates of the captured image and the spatial coordinates, and the position of the lane line in the spatial coordinates; the spatial coordinates are the spatial coordinates of the three-dimensional space where the vehicle is located.

[0035] In a third aspect, the present application further provides a computer device, wherein the computer device comprises a memory and a processor, wherein the memory stores a computer program, and when the processor executes the computer program, the wire pressing detection method described in the first aspect is implemented.

[0036] The above-mentioned lane crossing detection method, device and computer equipment obtain a captured image of the vehicle by a side-mounted camera, and then detect whether the vehicle crosses the lane based on the acquired captured image, the mapping relationship between the image coordinates of the captured image and the spatial coordinates, and the position of the lane line in the spatial coordinates. It detects whether the vehicle crosses the lane through the mapping relationship between the image coordinates and the spatial coordinates. It does not need to calculate the projection information of the vehicle in the image, nor does it need to calculate the information of the pixel color value in the lane line area. It is independent of the material scene and the amount of material and can accurately identify whether the vehicle crosses the lane, thereby solving the problem of inaccurate identification of vehicles crossing the lane in the existing vehicle lane crossing detection methods.

[0037] Details of one or more embodiments of the present application are set forth in the following drawings and description to make other features, objects, and advantages of the present application more readily apparent. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] The drawings described herein are used to provide a further understanding of the present application and constitute a part of the present application. The illustrative embodiments of the present application and their descriptions are used to explain the present application and do not constitute an improper limitation on the present application. In the drawings:

[0039] Figure 1 A hardware structure block diagram of a terminal for a wire pressing detection method provided in an embodiment of the present application;

[0040] Figure 2 A flow chart of a wire pressing detection method provided in one embodiment of the present application;

[0041] Figure 3 A schematic diagram of key points in a captured image provided by an embodiment of the present application;

[0042] Figure 4 A flowchart of a wire pressing detection method provided in a preferred embodiment of the present application;

[0043] Figure 5 This is a structural block diagram of a wire pressing detection device provided in one embodiment of the present application. DETAILED DESCRIPTION

[0044] In order to more clearly understand the purpose, technical solutions and advantages of the present application, the present application is described and illustrated below in conjunction with the accompanying drawings and embodiments.

[0045] Unless otherwise defined, the technical terms or scientific terms involved in this application shall have the general meaning understood by people with general skills in the technical field to which this application belongs. The words "one", "a", "the", "these" and the like in this application do not indicate a quantitative limitation, and they may be singular or plural. The terms "include", "comprise", "have" and any variants thereof involved in this application are intended to cover non-exclusive inclusions; for example, a process, method and system, product or device comprising a series of steps or modules (units) is not limited to the listed steps or modules (units), but may include unlisted steps or modules (units), or may include other steps or modules (units) inherent to these processes, methods, products or devices. The words "connect", "connected", "coupled" and the like involved in this application are not limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect. The "multiple" involved in this application refers to two or more. "And / or" describes the association relationship of associated objects, indicating that there may be three relationships, for example, "A and / or B" may mean: A exists alone, A and B exist at the same time, and B exists alone. Generally, the character " / " indicates that the objects associated with each other are in an "or" relationship. The terms "first", "second", "third", etc. in this application are only used to distinguish similar objects and do not represent a specific ordering of the objects.

[0046] The method embodiment provided in this embodiment can be executed in a terminal, a computer or a similar computing device. For example, running on a terminal, Figure 1is a hardware structure block diagram of a terminal of the wire pressing detection method of this embodiment. Figure 1 As shown, the terminal may include one or more ( Figure 1 Only one is shown in the figure) a processor 102 and a memory 104 for storing data, wherein the processor 102 may include but is not limited to a processing device such as a microprocessor MCU or a programmable logic device FPGA. The above terminal may also include a transmission device 106 and an input and output device 108 for communication functions. It can be understood by those skilled in the art that Figure 1 The structure shown is for illustration only and does not limit the structure of the above terminal. Figure 1 More or fewer components as shown, or with Figure 1 Different configurations shown.

[0047] The memory 104 can be used to store computer programs, for example, software programs and modules of application software, such as the computer program corresponding to the pressure line detection method in the present embodiment. The processor 102 executes various functional applications and data processing by running the computer program stored in the memory 104, that is, to implement the above method. The memory 104 may include a high-speed random access memory, and may also include a non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some examples, the memory 104 may further include a memory remotely arranged relative to the processor 102, and these remote memories may be connected to the terminal via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0048] The transmission device 106 is used to receive or send data via a network. The above network includes a wireless network provided by the communication provider of the terminal. In one example, the transmission device 106 includes a network adapter (Network Interface Controller, referred to as NIC), which can be connected to other network devices through a base station so as to communicate with the Internet. In one example, the transmission device 106 can be a radio frequency (Radio Frequency, referred to as RF) module, which is used to communicate with the Internet wirelessly.

[0049] In this embodiment, a wire pressing detection method is provided. Figure 2 : is a flow chart of the wire pressing detection method of this embodiment. Figure 2 As shown, the process includes the following steps:

[0050] Step S210, obtaining a captured image of the vehicle captured by a side-mounted camera.

[0051] The above-mentioned side-mounted camera is, relative to the front-mounted camera, a camera installed on both sides or one side of the road for monitoring road traffic conditions. Specifically, it can be installed on both sides or one side of the road in an open scene, or installed on both sides or one side of the road in a bridge or tunnel, for capturing vehicles on the road, and realizing the monitoring of violations such as crossing the line and driving against the road. The side-mounted camera in this embodiment is a camera installed on one side of the road. The above-mentioned acquisition of the captured image obtained by capturing the vehicle by the side-mounted camera can be to capture the vehicle in the target area using the side-mounted camera installed on one side of the road to obtain the captured image of the vehicle in the target area. The above-mentioned target area can be set according to demand. Specifically, it can be the photographable area of ​​the side-mounted camera, or it can be a part of the area selected from the photographable area of ​​the side-mounted camera. The above-mentioned use of the side-mounted camera installed on one side of the road to capture the vehicle in the target area can be to use the side-mounted camera installed on one side of the road to collect the image of the vehicle passing through the target area in real time. Specifically, a side-mounted camera installed on one side of the road can be used to detect vehicles passing through a target area in real time. When a vehicle passing through the target area meets a preset capture condition, the vehicle in the target area is captured to obtain a captured image. The preset capture condition can be specifically set according to specific needs, and this embodiment does not specifically limit it.

[0052] It should be noted that before using the side-mounted camera to capture images and before establishing the mapping relationship between the image coordinates and the spatial coordinates of the captured images, the side-mounted camera needs to be calibrated, and the internal and external parameters of the side-mounted camera are determined based on the calibration results. That is, when using the side-mounted camera to capture images or shoot lane lines, the internal and external parameters of the side-mounted camera always remain unchanged.

[0053] Step S220, based on the acquired captured image, the mapping relationship between the image coordinates of the captured image and the spatial coordinates, and the position of the lane line in the spatial coordinates, detect whether the vehicle crosses the lane line; the spatial coordinates are the spatial coordinates of the three-dimensional space where the vehicle is located.

[0054] In this step, the image coordinates of the captured image may be pixel coordinates in the image, i.e., coordinates of the pixel points in the image in two-dimensional space. The spatial coordinates may be coordinates in the actual physical space, i.e., coordinates of points in the world coordinate system. The world coordinate system may be a coordinate system established by taking any reference point as the origin of the coordinate system, the direction of the lane line as the x-axis, the direction perpendicular to the ground as the y-axis, and the direction perpendicular to the x-axis and y-axis as the z-axis according to the right-hand rule. For example, the projection point of the camera on the ground may be taken as the origin, the line parallel to the lane line as the x-axis, the direction of the vehicle as the positive direction of the x-axis, the line parallel to the vertical line between the camera and the ground as the y-axis, the direction from the camera to the ground as the positive direction of the y-axis, the line perpendicular to the x-axis and the y-axis as the z-axis, and the direction pointing to the left as the positive direction of the z-axis according to the right-hand rule to establish a world coordinate system.

[0055] The mapping relationship between the image coordinates and the spatial coordinates of the captured image may be a mapping relationship between each pixel point in the captured image and a point in three-dimensional space. The mapping relationship between the image coordinates and the spatial coordinates of the captured camera may be determined by using the internal parameters and the external parameters of the camera to determine the mapping relationship between the image coordinates and the spatial coordinates of the captured camera.

[0056] Among them, before detecting whether the vehicle crosses the lane line based on the position of the lane line in the spatial coordinates, it is necessary to determine the position of the lane line in the spatial coordinates. The above determination of the position of the lane line in the spatial coordinates can first determine whether there is a determined lane line for the external parameters and internal parameters of the camera at this time. If there is, the lane line with the determined spatial coordinate position can be directly called. If there is no lane line with a determined spatial coordinate position, it is necessary to use the side-mounted camera to shoot to determine the position of the lane line in the spatial coordinates. Using the side-mounted camera to shoot to determine the position of the lane line in the spatial coordinates can be to use the side-mounted camera in advance to shoot an image of the lane line when there is no vehicle, and according to the image of the lane line when there is no vehicle, use a preset lane line detection algorithm to perform lane line detection on the image, extract the lane line from the image of the lane line, and use the extracted lane line to map the lane line in the image coordinate system to the world coordinate system. The above preset lane line detection algorithm can be one or more of the edge detection method, the color threshold detection method, etc. The lane lines in the image coordinate system are mapped to the world coordinate system by using the extracted lane lines. The inverse perspective transformation method can be used to convert the lane lines in the image from the perspective to the orthogonal perspective to eliminate the perspective distortion so that the lane lines appear as parallel lines in the image. Furthermore, the lane lines in the image coordinate system are mapped to the world coordinate system by using the three-dimensional reconstruction method, or the lane lines in the image coordinate system can be mapped to the world coordinate system by using the internal and external parameters of the side-mounted camera.

[0057] The internal parameters of the above-mentioned side-mounted camera may include the focal length and aperture center of the lens of the side-mounted camera. Among them, the above-mentioned aperture center is the center of the light hole, which is located on the optical axis of the lens and has a fixed position. The above-mentioned aperture center can be divided into a horizontal aperture center and a vertical aperture center. Among them, the above-mentioned horizontal aperture center is the position of the aperture center in the horizontal direction; the above-mentioned vertical aperture center is the position of the aperture center in the vertical direction. In general, the internal parameters of the side-mounted camera can be determined by the technical rule book of the side-mounted camera, or by the calibration process of the side-mounted camera at a later stage. The external parameters of the above-mentioned side-mounted camera may include the height of the side-mounted camera, the tilt angle of the side-mounted camera in the horizontal direction, and the tilt angle of the side-mounted camera in the vertical direction.

[0058] Specifically, the above-mentioned detection of whether the vehicle crosses the lane line based on the acquired snapshot image, the mapping relationship between the image coordinates of the snapshot image and the spatial coordinates, and the position of the lane line in the spatial coordinates can be based on the acquired snapshot image, the mapping relationship between the image coordinates of the snapshot image and the spatial coordinates, determining the key point information of the vehicle in the snapshot image, and then, based on the key point information of the vehicle in the snapshot image, the mapping relationship between the image coordinates of the snapshot image and the spatial coordinates, and the position of the lane line in the spatial coordinates, detecting whether the vehicle crosses the lane line.

[0059] The above steps S210 to S220 obtain a captured image of the vehicle by acquiring a capture image obtained by a side-mounted camera, and then detect whether the vehicle crosses the lane line based on the acquired capture image, the mapping relationship between the image coordinates of the capture image and the spatial coordinates, and the position of the lane line in the spatial coordinates. It detects whether the vehicle crosses the lane line through the mapping relationship between the image coordinates and the spatial coordinates. It does not need to calculate the projection information of the vehicle in the image, nor does it need to calculate the information of the pixel color value in the lane line area. It does not rely on the material scene and the amount of material and can accurately identify whether the vehicle crosses the lane line. It solves the problem of inaccurate identification of vehicles crossing the lane line in the existing detection method of vehicles crossing the lane line.

[0060] In one embodiment, before step S220, the method further includes:

[0061] Step S218, determining a mapping relationship between image coordinates of the captured image and space coordinates based on the acquired captured image, internal parameters of the side-mounted camera, and external parameters of the side-mounted camera.

[0062] The above-mentioned method of determining the mapping relationship between the image coordinates of the captured image and the spatial coordinates based on the acquired captured image, the internal parameters of the side-mounted camera and the external parameters of the side-mounted camera may be to determine the height of the side-mounted camera, the horizontal inclination angle and the vertical inclination angle of the side-mounted camera, and the focal length of the side-mounted camera based on the internal parameters of the side-mounted camera and the external parameters of the side-mounted camera, and further determine the mapping relationship between the image coordinates of the captured image and the spatial coordinates based on the acquired captured image, the height of the side-mounted camera, the horizontal inclination angle and the vertical inclination angle of the side-mounted camera, and the focal length of the side-mounted camera.

[0063] Preferably, the mapping relationship between the image coordinates of the captured image and the spatial coordinates is determined based on the captured image, the internal parameters of the side-mounted camera and the external parameters of the side-mounted camera. The image coordinates of the captured image can also be converted into camera coordinates using the internal parameters of the camera. Specifically, the image coordinates of the captured image can be converted into image physical coordinates, and the image physical coordinates can be converted into side-mounted camera coordinates using the principles of pinhole imaging and similar triangles. Then, based on the external parameters of the side-mounted camera, the side-mounted camera coordinates are converted into world coordinates. The above-mentioned conversion of the side-mounted camera coordinates into world coordinates based on the external parameters of the side-mounted camera can include the following steps: first, constructing a side-mounted camera coordinate point in the form of homogeneous coordinates. Then, the inverse of the external parameter matrix (or directly using the transpose and translation vector of the external parameter matrix, depending on the representation form of the external parameter matrix) is applied to perform coordinate conversion. The external parameter matrix is ​​usually represented as a 4x4 matrix, which contains a rotation matrix and a translation vector. The rotation matrix describes the rotation direction of the side-mounted camera coordinate system relative to the world coordinate system, and the translation vector describes the position of the side-mounted camera in the world coordinate system. The side-mounted camera coordinate point is converted to a world coordinate point through matrix multiplication or the corresponding transformation formula. The converted world coordinate point may be in a homogeneous coordinate form, which needs to be converted to a non-homogeneous coordinate form (i.e., remove the last component) to obtain the final world coordinate.

[0064] Specifically, in one embodiment, based on step S218, based on the acquired captured image, the internal parameters of the side-mounted camera, and the external parameters of the side-mounted camera, determining the mapping relationship between the image coordinates and the space coordinates of the captured image includes:

[0065] Step S2182, based on the internal parameters of the side-mounted camera and the external parameters of the side-mounted camera, determine the height of the side-mounted camera, the horizontal tilt angle and the vertical tilt angle of the side-mounted camera, and the focal length of the side-mounted camera.

[0066] The height of the side-mounted camera may be the vertical height from the side-mounted camera to the ground. Specifically, it may refer to the vertical distance between the center point of the lens of the side-mounted camera and the ground. The horizontal tilt angle of the side-mounted camera may refer to the angle between the optical axis of the side-mounted camera (the center line of the camera lens) and the horizontal plane. If the side-mounted camera is installed horizontally, the horizontal tilt angle of the side-mounted camera is 0 degrees. If the side-mounted camera is tilted upward or downward, the horizontal tilt angle of the side-mounted camera will be positive or negative accordingly. The vertical tilt angle may refer to the angle between the optical axis of the side-mounted camera and the vertical plane. If the side-mounted camera is installed vertically, the vertical tilt angle of the side-mounted camera is 0 degrees. If the side-mounted camera is tilted to the left or right, the horizontal tilt angle of the side-mounted camera will be positive or negative accordingly.

[0067] Step S2184, based on the acquired captured image, the height of the side-mounted camera, the horizontal tilt angle and the vertical tilt angle of the side-mounted camera, and the focal length of the side-mounted camera, determine the mapping relationship between the image coordinates of the captured image and the spatial coordinates.

[0068] The calculation process for determining the mapping relationship between the image coordinates and the spatial coordinates of the captured image based on the captured image, the height of the side-mounted camera, the horizontal tilt angle and the vertical tilt angle of the side-mounted camera, and the focal length of the side-mounted camera is as follows:

[0069] The specific process of mapping the point (x', y') in the image coordinates of the captured image to the point (X, Y) in the spatial coordinates is as follows:

[0070] ;

[0071] ;

[0072] in, It is the ratio of the horizontal offset between the point on the image plane of the captured image and the center of the optical axis of the side-mounted camera to the horizontal focal length.

[0073] To take into account the height of the side-mounted camera, the lateral position of the point on the image plane of the captured image in the world coordinate system is determined.

[0074] Corrects the vertical deformation caused by the vertical tilt of the side-mounted camera.

[0075] Among them, f x is the horizontal component of the focal length of the camera mounted on the lower side of the spatial coordinate, f y is the vertical component of the focal length of the side-mounted camera in spatial coordinates, h is the height of the side-mounted camera, and b is the vertical tilt angle of the side-mounted camera.

[0076] In the above steps S2182 to S2184, the height of the side-mounted camera, the horizontal inclination angle and the vertical inclination angle of the side-mounted camera, and the focal length of the side-mounted camera are determined based on the internal parameters of the side-mounted camera and the external parameters of the side-mounted camera. Furthermore, the mapping relationship between the image coordinates of the captured image and the spatial coordinates is determined based on the acquired snapshot image, the height of the side-mounted camera, the horizontal inclination angle and the vertical inclination angle of the side-mounted camera, and the focal length of the side-mounted camera. By determining the mapping relationship between the image coordinates of the captured image and the spatial coordinates, it is convenient to subsequently determine the positions of the key points of the vehicle in the captured image based on the acquired snapshot image, and then detect whether the vehicle is crossing the line according to the positions of the key points of the vehicle in the snapshot image.

[0077] In addition, in one embodiment, the above step S2184 determines the mapping relationship between the image coordinates and the space coordinates of the captured image based on the acquired captured image, the height of the side-mounted camera, the horizontal tilt angle and the vertical tilt angle of the side-mounted camera, and the focal length of the side-mounted camera, including:

[0078] Step S1, based on the horizontal tilt angle and the vertical tilt angle of the side-mounted camera and the focal length of the side-mounted camera, determine the horizontal component and the vertical component of the focal length of the side-mounted camera in the spatial coordinates.

[0079] In this step, the specific calculation process of determining the horizontal component and the vertical component of the focal length of the side-mounted camera in the spatial coordinates based on the horizontal tilt angle and the vertical tilt angle of the side-mounted camera and the focal length of the side-mounted camera is:

[0080] ;

[0081] ;

[0082] Wherein, f is the focal length of the side-mounted camera, and a is the horizontal tilt angle of the side-mounted camera.

[0083] Step S2, based on the acquired captured image, the horizontal component and the vertical component of the focal length of the side-mounted camera under the spatial coordinates, the height of the side-mounted camera, the horizontal tilt angle and the vertical tilt angle of the side-mounted camera, determine the mapping relationship between the image coordinates of the captured image and the spatial coordinates.

[0084] In the above steps S1 to S2, the horizontal component and the vertical component of the focal length of the side-mounted camera in the spatial coordinates are determined based on the horizontal inclination angle and the vertical inclination angle of the side-mounted camera and the focal length of the side-mounted camera. Then, the mapping relationship between the image coordinates of the captured image and the spatial coordinates is determined based on the acquired captured image, the horizontal component and the vertical component of the focal length of the side-mounted camera in the spatial coordinates, the height of the side-mounted camera, the horizontal inclination angle and the vertical inclination angle of the side-mounted camera. By determining the mapping relationship between the image coordinates of the captured image and the spatial coordinates, it is convenient to subsequently determine the positions of the key points of the vehicle in the captured image based on the acquired captured image, and then detect whether the vehicle is crossing the line according to the positions of the key points of the vehicle in the captured image.

[0085] In one embodiment, the above step S220 detects whether the vehicle crosses the lane based on the acquired captured image, the mapping relationship between the image coordinates of the captured image and the spatial coordinates, and the position of the lane line in the spatial coordinates, including:

[0086] Step S222, based on the acquired captured image, determine the key point information in the captured image; the key point information includes the position of the point on the contact surface between the vehicle tire and the ground that is closest to the side-mounted camera and the position of the feature point on the roof.

[0087] The point on the contact surface between the tire and the ground of the above-mentioned vehicle that is closest to the side-mounted camera at least includes the point on the contact surface between the front tire and the ground that is closest to the side-mounted camera and the point on the contact surface between the rear tire and the ground that is closest to the side-mounted camera. The characteristic points on the roof of the above-mentioned vehicle at least include the point on the top cover of the vehicle that is closest to the side-mounted camera and the point farthest from the side-mounted camera.

[0088] Figure 3 This is a schematic diagram of key points in a captured image provided by an embodiment of the present application. Figure 3 As shown, the key point information in the captured image includes point A on the side of the contact surface between the front tire and the ground closest to the side-mounted camera, point B on the side of the contact surface between the rear tire and the ground closest to the side-mounted camera, point D on the top cover of the vehicle closest to the side-mounted camera, and point E on the farthest side from the side-mounted camera. Among them, the straight line passing through points D and E is perpendicular to the lane line. The intersection point of the straight line passing through points D and E and the straight line passing through points A and B is C.

[0089] Step S224, based on the key point information in the captured image, the mapping relationship between the image coordinates of the captured image and the spatial coordinates, and the position of the lane line in the spatial coordinates, detect whether the vehicle crosses the lane line.

[0090] Among them, based on the key point information in the captured image, the mapping relationship between the image coordinates of the captured image and the spatial coordinates, and the position of the lane line in the spatial coordinates, detecting whether the vehicle crosses the line can be performed. The position of the key point in the captured image in the spatial coordinates can be determined according to the key point information in the captured image and the mapping relationship between the image coordinates of the captured image and the spatial coordinates, and then, based on the position of the key point in the captured image in the spatial coordinates and the position of the lane line in the spatial coordinates, detecting whether the vehicle crosses the line.

[0091] In the above steps S222 to S224, the key point information in the captured image is determined based on the captured image, and then, based on the key point information in the captured image, the mapping relationship between the image coordinates of the captured image and the spatial coordinates, and the position of the lane line in the spatial coordinates, whether the vehicle crosses the lane is detected. The relationship between the feature points in the vehicle and the lane line is determined by the mapping relationship between the points in the image coordinates and the spatial coordinates, and whether the vehicle crosses the lane is detected based on the relationship between the feature points of the vehicle and the lane line. There is no need to calculate the projection information of the vehicle in the image, nor is there any need to calculate the information of the pixel color value in the lane line area. It is independent of the material scene and the amount of material and can accurately identify whether the vehicle crosses the lane, thereby solving the problem of inaccurate identification of vehicles crossing the lane in the existing detection methods of vehicles crossing the lane.

[0092] In addition, in one embodiment, based on step S224, based on key point information in the captured image, a mapping relationship between image coordinates of the captured image and spatial coordinates, and a position of the lane line in the spatial coordinates, detecting whether the vehicle crosses the lane line includes:

[0093] Step S2242, based on the key point information in the captured image and the mapping relationship between the image coordinates and the spatial coordinates of the captured image, determine the position of the key point in the captured image in the spatial coordinates.

[0094] Continue to see Figure 3 Based on the key point information in the captured image, the coordinates of the five feature points A, B, C, D, and E in the captured image can be determined. Furthermore, based on the mapping relationship between the image coordinates and the spatial coordinates of the captured image, the positions of the five feature points A, B, C, D, and E in the spatial coordinates can be determined.

[0095] Step S2244, based on the positions of the key points in the captured image in the spatial coordinates and the positions of the lane lines in the spatial coordinates, detect whether the vehicle crosses the lane line.

[0096] As described above, detecting whether the vehicle crosses the lane based on the position of the key points in the captured image in the spatial coordinates and the position of the lane line in the spatial coordinates can be performed by determining the position in the spatial coordinates of the point on the contact surface between the vehicle's tire and the ground that is farthest from the side-mounted camera, and further, detecting whether the vehicle crosses the lane based on the position in the spatial coordinates of the point on the contact surface between the vehicle's tire and the ground that is farthest from the side-mounted camera and the position of the lane line in the spatial coordinates.

[0097] The above steps S2242 to S2244 determine the positions of the key points in the captured image in the spatial coordinates based on the key point information in the captured image and the mapping relationship between the image coordinates and the spatial coordinates of the captured image, and then detect whether the vehicle crosses the lane based on the positions of the key points in the captured image in the spatial coordinates and the position of the lane line in the spatial coordinates.

[0098] Furthermore, in one embodiment, the above step S2244 detects whether the vehicle crosses the lane based on the position of the key point in the captured image in the spatial coordinates and the position of the lane line in the spatial coordinates, including:

[0099] Step S1, based on the position of the key point in the captured image in the spatial coordinates, determine the position of the point on the side of the contact surface between the tire of the vehicle and the ground that is farthest from the side-mounted camera in the spatial coordinates.

[0100] Continue to see Figure 3 , when the position of the point on the side of the wheel close to the side-mounted camera in spatial coordinates is known, the position of point D on the side of the roof closest to the side-mounted camera in spatial coordinates is known, and the position of point E on the side of the roof farthest from the side-mounted camera in spatial coordinates is known, the width L2 of the roof (the distance between point D and point E after being projected onto the ground) and the distance L1 between point C and point D on the side of the roof closest to the side-mounted camera in spatial coordinates after being projected onto the ground can be determined. The actual width W of the vehicle can be determined based on L1 and L2.

[0101] The calculation process of the actual width W of the vehicle is as follows:

[0102] ;

[0103] Furthermore, based on the position of the point on the side of the wheel close to the side-mounted camera in the spatial coordinates and the actual width W of the vehicle, the position of the point F on the side farthest from the side-mounted camera in the contact surface between the vehicle's tire and the ground in the spatial coordinates can be determined.

[0104] Step S2, based on the position of the point on the side farthest from the side-mounted camera in the contact surface between the tire of the vehicle and the ground in the spatial coordinates, and the position of the lane line in the spatial coordinates, detect whether the vehicle crosses the lane.

[0105] Below, take the side-mounted camera installed on the left side of the road as an example. When the side-mounted camera is installed on the left side of the road, after determining the position of the rightmost point F in the contact surface between the vehicle's tire and the ground in the spatial coordinates, it is only necessary to determine whether point F is on the left or right side of the lane line. When point F is on the left side of the lane line, the vehicle does not cross the line. When point F is on the right side of the lane line, the vehicle crosses the line.

[0106] Generally, in order to ensure the accuracy of the judgment, it is necessary to determine the point F1 on the side of the contact surface between the front tire and the ground farthest from the side-mounted camera, and the point F2 on the side of the contact surface between the rear tire and the ground farthest from the side-mounted camera. Only when both points F1 and F2 determine that the vehicle has not crossed the line, then the vehicle has not crossed the line. If any one of points F1 and F2 determines that the vehicle has crossed the line, then the vehicle has crossed the line.

[0107] In one embodiment, based on step S1, based on the position of the key point in the captured image in the spatial coordinates, determining the position of the point on the side of the contact surface between the tire of the vehicle and the ground farthest from the side-mounted camera in the spatial coordinates includes:

[0108] Step S12, based on the positions of the key points in the captured image in the spatial coordinates, determine the width of the roof of the vehicle and the horizontal distance between the wheels and the roof.

[0109] The width of the roof of the vehicle is the width of the roof cover of the vehicle, that is, the distance between point D and point E after being projected onto the ground. The horizontal distance between the wheel and the roof can be the distance between point C and point D on the side of the roof cover closest to the side-mounted camera in spatial coordinates after being projected onto the ground.

[0110] Step S14, determining the width of the vehicle based on the width of the roof of the vehicle and the horizontal distance between the wheels and the roof.

[0111] Step S16, based on the width of the vehicle and the position of the point on the contact surface between the vehicle's tire and the ground that is closest to the side-mounted camera, determine the position in spatial coordinates of the point on the contact surface between the vehicle's tire and the ground that is farthest from the side-mounted camera.

[0112] In the above steps S12 to S16, the width of the roof of the vehicle and the horizontal distance between the wheel and the roof are determined based on the positions of the key points in the captured image in the spatial coordinates. The width of the vehicle is determined based on the width of the roof of the vehicle and the horizontal distance between the wheel and the roof. Furthermore, the position of the point on the contact surface between the tire of the vehicle and the ground that is farthest from the side-mounted camera is determined according to the width of the vehicle and the position of the point on the contact surface between the tire of the vehicle and the ground that is closest to the side-mounted camera. By determining the position of the point on the contact surface between the tire of the vehicle and the ground that is farthest from the side-mounted camera, it is convenient to subsequently detect whether the vehicle is over the line according to the position of the point on the contact surface between the tire of the vehicle and the ground that is farthest from the side-mounted camera in the spatial coordinates.

[0113] Further, in one embodiment, after detecting whether the vehicle crosses the line, the method includes:

[0114] Step S230, generating warning information based on the detection result of the vehicle crossing the line.

[0115] Specifically, when a vehicle crosses the line, a warning message can be generated for reporting, or a voice reminder or sound and light reminder message can be generated to remind the driver to drive in a standardized manner in a timely manner.

[0116] The present embodiment is described and illustrated below through preferred embodiments.

[0117] Figure 4 : is a flow chart of a wire pressing detection method provided by a preferred embodiment of the present application. Figure 4 As shown, the wire pressing detection method comprises the following steps:

[0118] Step S401, obtaining a captured image of a vehicle captured by a side-mounted camera;

[0119] Step S402, determining the height of the side-mounted camera, the horizontal tilt angle and the vertical tilt angle of the side-mounted camera, and the focal length of the side-mounted camera based on the internal parameters of the side-mounted camera and the external parameters of the side-mounted camera;

[0120] Step S403, determining a mapping relationship between image coordinates and space coordinates of the captured image based on the acquired captured image, the height of the side-mounted camera, the horizontal tilt angle and the vertical tilt angle of the side-mounted camera, and the focal length of the side-mounted camera;

[0121] Step S404, based on the captured image, determine key point information in the captured image; the key point information includes the position of the point on the contact surface between the tire of the vehicle and the ground closest to the side-mounted camera and the position of the feature point on the roof;

[0122] Step S405, determining the position of the key point in the captured image in the spatial coordinates based on the key point information in the captured image and the mapping relationship between the image coordinates and the spatial coordinates of the captured image;

[0123] Step S406, based on the positions of the key points in the captured image in the spatial coordinates, determining the positions of the points on the side of the contact surface between the tire of the vehicle and the ground that are farthest from the side-mounted camera in the spatial coordinates;

[0124] Step S407, detecting whether the vehicle crosses the lane based on the position of the point on the side farthest from the side-mounted camera in the contact surface between the tire of the vehicle and the ground in the spatial coordinates and the position of the lane line in the spatial coordinates.

[0125] The above steps S401 to S407 obtain the captured image of the vehicle by acquiring the captured image by the side-mounted camera, and then detect whether the vehicle crosses the lane line based on the acquired captured image, the mapping relationship between the image coordinates of the captured image and the spatial coordinates, and the position of the lane line in the spatial coordinates. It detects whether the vehicle crosses the lane line through the mapping relationship between the image coordinates and the spatial coordinates. It does not need to calculate the projection information of the vehicle in the image, nor does it need to calculate the information of the pixel color value in the lane line area. It is independent of the material scene and the amount of material and can accurately identify whether the vehicle crosses the lane line. It solves the problem of inaccurate identification of vehicles crossing the lane line in the existing detection method of vehicles crossing the lane line.

[0126] It should be understood that, although the various steps in the flowcharts involved in the above-mentioned embodiments are displayed in sequence according to the indication of the arrows, these steps are not necessarily executed in sequence according to the order indicated by the arrows. Unless there is a clear explanation in this article, the execution of these steps does not have a strict order restriction, and these steps can be executed in other orders. Moreover, at least a part of the steps in the flowcharts involved in the above-mentioned embodiments can include multiple steps or multiple stages, and these steps or stages are not necessarily executed at the same time, but can be executed at different times, and the execution order of these steps or stages is not necessarily to be carried out in sequence, but can be executed in turn or alternately with other steps or at least a part of the steps or stages in other steps.

[0127] Based on the same inventive concept, a wire pressing detection device is also provided in the present embodiment, and the device is used to implement the above-mentioned embodiments and preferred implementation modes, and the descriptions that have been made will not be repeated. The terms "module", "unit", "subunit", etc. used below can implement a combination of software and / or hardware of predetermined functions. Although the devices described in the following embodiments are preferably implemented in software, the implementation of hardware, or a combination of software and hardware, is also possible and conceivable.

[0128] In one embodiment, Figure 5is a structural block diagram of a wire pressing detection device provided in an embodiment of the present application, such as Figure 5 As shown, the wire pressing detection device comprises:

[0129] The capture module 52 is used to obtain the captured image of the vehicle captured by the side-mounted camera;

[0130] And a detection module 54 is used to detect whether the vehicle crosses the lane based on the acquired captured image, the mapping relationship between the image coordinates of the captured image and the spatial coordinates, and the position of the lane line in the spatial coordinates; the spatial coordinates are the spatial coordinates of the three-dimensional space where the vehicle is located.

[0131] The above-mentioned lane crossing detection device obtains a captured image of the vehicle by a side-mounted camera, and then detects whether the vehicle crosses the lane based on the acquired captured image, the mapping relationship between the image coordinates of the captured image and the spatial coordinates, and the position of the lane line in the spatial coordinates. It detects whether the vehicle crosses the lane through the mapping relationship between the image coordinates and the spatial coordinates. It does not need to calculate the projection information of the vehicle in the image, nor does it need to calculate the information of the pixel color value in the lane line area. It is independent of the material scene and the amount of material and can accurately identify whether the vehicle crosses the lane. It solves the problem of inaccurate identification of vehicles crossing the lane in the existing vehicle lane crossing detection method.

[0132] In one embodiment, a preprocessing module is also configured to obtain internal parameters and external parameters of the side-mounted camera, and to obtain lane line information.

[0133] In one embodiment, a road crossing warning module is also included, which is used to perform selective warning reporting based on the vehicle crossing detection result of the detection module 54.

[0134] It should be noted that the above modules can be functional modules or program modules, and can be implemented by software or hardware. For modules implemented by hardware, the above modules can be located in the same processor; or the above modules can be located in different processors in any combination.

[0135] In one embodiment, a computer device is provided, including a memory and a processor, wherein a computer program is stored in the memory, and when the processor executes the computer program, any one of the wire pressing detection methods in the above embodiments is implemented.

[0136] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to the memory, database or other medium used in the embodiments provided in this application can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetoresistive random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. As an illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM). The database involved in each embodiment provided in this application may include at least one of a relational database and a non-relational database. Non-relational databases may include distributed databases based on blockchains, etc., but are not limited to this. The processor involved in each embodiment provided in this application may be a general-purpose processor, a central processing unit, a graphics processor, a digital signal processor, a programmable logic device, a data processing logic device based on quantum computing, etc., but are not limited to this.

[0137] The technical features of the above embodiments may be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0138] The above-described embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the present application. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the present application shall be subject to the attached claims.

Claims

1. A wire pressing detection method, characterized in that: The method comprises: Obtain a captured image of the vehicle captured by a side-mounted camera; Based on the captured image obtained, key point information in the captured image is determined; the key point information includes the position of the point on the contact surface between the tire of the vehicle and the ground that is closest to the side-mounted camera and the position of the characteristic point of the roof; the point on the contact surface between the tire of the vehicle and the ground that is closest to the side-mounted camera includes at least the point on the contact surface between the front tire and the ground that is closest to the side-mounted camera and the point on the contact surface between the rear tire and the ground that is closest to the side-mounted camera; the characteristic point of the roof includes at least the point on the roof of the vehicle that is closest to the side-mounted camera and the point farthest from the side-mounted camera; based on the key point information in the captured image, the image coordinates of the captured image are mapped to the spatial coordinates. relationship, determine the width of the roof of the vehicle and the horizontal distance between the wheel and the roof; determine the width of the vehicle based on the width of the roof of the vehicle and the horizontal distance between the wheel and the roof; determine the position of the point on the contact surface between the tire of the vehicle and the ground farthest from the side-mounted camera in the spatial coordinates based on the width of the vehicle and the position of the point on the contact surface between the tire of the vehicle and the ground closest to the side of the side-mounted camera; detect whether the vehicle is crossing the lane based on the position of the point on the contact surface between the tire of the vehicle and the ground farthest from the side-mounted camera in the spatial coordinates and the position of the lane line in the spatial coordinates; the spatial coordinates are the spatial coordinates of the three-dimensional space where the vehicle is located.

2. The wire pressing detection method according to claim 1, characterized in that: Before determining the width of the roof of the vehicle and the horizontal distance between the wheel and the roof based on the mapping relationship between the image coordinates of the captured image and the space coordinates, the method includes: Based on the acquired captured image, internal parameters of the side-mounted camera and external parameters of the side-mounted camera, a mapping relationship between the image coordinates of the captured image and the space coordinates is determined.

3. The wire pressing detection method according to claim 2, characterized in that: The determining, based on the acquired captured image, the internal parameters of the side-mounted camera and the external parameters of the side-mounted camera, a mapping relationship between the image coordinates of the captured image and the space coordinates includes: Determine, based on the internal parameters of the side-mounted camera and the external parameters of the side-mounted camera, the height of the side-mounted camera, the horizontal tilt angle and the vertical tilt angle of the side-mounted camera, and the focal length of the side-mounted camera; Based on the acquired captured image, the height of the side-mounted camera, the horizontal and vertical tilt angles of the side-mounted camera, and the focal length of the side-mounted camera, the mapping relationship between the image coordinates of the captured image and the spatial coordinates is determined.

4. The wire pressing detection method according to claim 3, characterized in that: The determining, based on the acquired captured image, the height of the side-mounted camera, the horizontal tilt angle and the vertical tilt angle of the side-mounted camera, and the focal length of the side-mounted camera, a mapping relationship between the image coordinates of the captured image and the space coordinates includes: Based on the horizontal tilt angle and the vertical tilt angle of the side-mounted camera and the focal length of the side-mounted camera, determining the horizontal component and the vertical component of the focal length of the side-mounted camera in the spatial coordinates; Based on the captured image acquired, the horizontal component and the vertical component of the focal length of the side-mounted camera in the spatial coordinates, the height of the side-mounted camera, and the horizontal and vertical inclination angles of the side-mounted camera, the mapping relationship between the image coordinates of the captured image and the spatial coordinates is determined.

5. The wire pressing detection method according to claim 1, characterized in that: The determining of the width of the roof of the vehicle and the horizontal distance between the wheel and the roof based on the key point information in the captured image and the mapping relationship between the image coordinates and the space coordinates of the captured image includes: Based on the key point information in the captured image and the mapping relationship between the image coordinates of the captured image and the spatial coordinates, determining the position of the key point in the captured image in the spatial coordinates; Based on the positions of the key points in the captured image in the spatial coordinates, the width of the roof of the vehicle and the horizontal distance between the wheel and the roof are determined.

6. The wire pressing detection method according to claim 1, characterized in that: After detecting whether the vehicle crosses the line, the method includes: Based on the detection result of the vehicle crossing the line, a warning message is generated.

7. A wire pressing detection device, characterized in that: The device comprises: A capture module is used to obtain a captured image of a vehicle captured by a side-mounted camera; and a detection module, for determining key point information in the captured image based on the acquired captured image; the key point information includes the position of the point on the contact surface between the tire of the vehicle and the ground that is closest to the side of the side-mounted camera and the position of the characteristic point of the roof; the point on the contact surface between the tire of the vehicle and the ground that is closest to the side of the side-mounted camera includes at least the point on the contact surface between the front tire and the ground that is closest to the side of the side-mounted camera and the point on the contact surface between the rear tire and the ground that is closest to the side of the side-mounted camera; the characteristic point of the roof includes at least the point on the roof of the vehicle that is closest to the side of the side-mounted camera and the point that is farthest from the side-mounted camera; based on the key point information in the captured image, the image coordinates of the captured image and the spatial coordinates are determined. The mapping relationship between the vehicle's tire and the ground is used to determine the width of the vehicle's roof and the horizontal distance between the wheel and the roof; the width of the vehicle is determined based on the width of the vehicle's roof and the horizontal distance between the wheel and the roof; the position of the point on the contact surface between the vehicle's tire and the ground that is farthest from the side-mounted camera in the spatial coordinates is determined based on the width of the vehicle and the position of the point on the contact surface between the vehicle's tire and the ground that is closest to the side-mounted camera; based on the position of the point on the contact surface between the vehicle's tire and the ground that is farthest from the side-mounted camera in the spatial coordinates and the position of the lane line in the spatial coordinates, detect whether the vehicle is crossing the line; the spatial coordinates are the spatial coordinates of the three-dimensional space where the vehicle is located.

8. A computer device comprising a memory and a processor, wherein the memory stores a computer program, wherein: When the processor executes the computer program, the steps of the wire pressing detection method according to any one of claims 1 to 6 are implemented.

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